TY - GEN
T1 - Coordinated Passive Maneuvering Target Tracking by Multiple Underwater Vehicles Based on Asynchronous Sequential Filtering
AU - Cheng, Xuechao
AU - Guo, Yuanbo
AU - Gao, Jian
AU - Chen, Yimin
AU - Pan, Guang
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.
PY - 2023
Y1 - 2023
N2 - As a hot topic in the development of marine science, underwater target tracking technology has been playing an important role since its birth. Passive sonar, one of the widely used sensor devices in tracking, collecting data without emitting energy signals, has good concealment. As a sensor carrier with superior performance, autonomous underwater vehicle (AUV) can be used to build an underwater multi-platform collaborative tracking system, to obtain composite observation data and improve tracking performance. In this paper, the problem of cooperative passive tracking of underwater maneuvering targets by multi-AUVs is studied. Aiming at the divergence problem of tracking maneuvering targets by a single AUV, a collaborative tracking system which has multi-AUVs, is formed. In view of the unavoidable asynchronous sampling problem among multi-AUVs, the asynchronous sequential filtering method is derived. In order to solve the prediction model distortion problem, the strong tracking theory is introduced. Therefore, combined with the Unscented-Kalman-Filter, an Asynchronous-Sequential-Strong-Tracking-Filter-Unscented-Kalman-Tracking algorithm (AS-STF-UKT) is proposed. In simulation scenario, it successfully solved the previous problems.
AB - As a hot topic in the development of marine science, underwater target tracking technology has been playing an important role since its birth. Passive sonar, one of the widely used sensor devices in tracking, collecting data without emitting energy signals, has good concealment. As a sensor carrier with superior performance, autonomous underwater vehicle (AUV) can be used to build an underwater multi-platform collaborative tracking system, to obtain composite observation data and improve tracking performance. In this paper, the problem of cooperative passive tracking of underwater maneuvering targets by multi-AUVs is studied. Aiming at the divergence problem of tracking maneuvering targets by a single AUV, a collaborative tracking system which has multi-AUVs, is formed. In view of the unavoidable asynchronous sampling problem among multi-AUVs, the asynchronous sequential filtering method is derived. In order to solve the prediction model distortion problem, the strong tracking theory is introduced. Therefore, combined with the Unscented-Kalman-Filter, an Asynchronous-Sequential-Strong-Tracking-Filter-Unscented-Kalman-Tracking algorithm (AS-STF-UKT) is proposed. In simulation scenario, it successfully solved the previous problems.
KW - Asynchronous Sampling
KW - Strong Tracking Sequential Filter
KW - Underwater Multi-AUV Collaboration
KW - Unscented Kalman Algorithm
UR - http://www.scopus.com/inward/record.url?scp=85175997692&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-6498-7_22
DO - 10.1007/978-981-99-6498-7_22
M3 - 会议稿件
AN - SCOPUS:85175997692
SN - 9789819964970
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 246
EP - 255
BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
A2 - Yang, Huayong
A2 - Zou, Jun
A2 - Yang, Geng
A2 - Ouyang, Xiaoping
A2 - Liu, Honghai
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Wang, Zhiyong
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Y2 - 5 July 2023 through 7 July 2023
ER -
